An Architectural Approach to Ensuring Consistency in Hierarchical Execution

Hierarchical task decomposition is a method used in many agent systems to organize agent knowledge. This work shows how the combination of a hierarchy and persistent assertions of knowledge can lead to difficulty in maintaining logical consistency in asserted knowledge. We explore the problematic consequences of persistent assumptions in the reasoning process and introduce novel potential solutions. Having implemented one of the possible solutions, Dynamic Hierarchical Justification, its effectiveness is demonstrated with an empirical analysis

Bayesian Inference in Processing Experimental Data: Principles and Basic Applications

This report introduces general ideas and some basic methods of the Bayesian probability theory applied to physics measurements. Our aim is to make the reader familiar, through examples rather than rigorous formalism, with concepts such as: model comparison (including the automatic Ockham's Razor filter provided by the Bayesian approach); parametric inference; quantification of the uncertainty about the value of physical quantities, also taking into account systematic effects; role of marginalization; posterior characterization; predictive distributions; hierarchical modelling and hyperparameters; Gaussian approximation of the posterior and recovery of conventional methods, especially maximum likelihood and chi-square fits under well defined conditions; conjugate priors, transformation invariance and maximum entropy motivated priors; Monte Carlo estimates of expectation, including a short introduction to Markov Chain Monte Carlo methods.Comment: 40 pages, 2 figures, invited paper for Reports on Progress in Physic

Probabilistic Methodology and Techniques for Artefact Conception and Development

The purpose of this paper is to make a state of the art on probabilistic methodology and techniques for artefact conception and development. It is the 8th deliverable of the BIBA (Bayesian Inspired Brain and Artefacts) project. We first present the incompletness problem as the central difficulty that both living creatures and artefacts have to face: how can they perceive, infer, decide and act efficiently with incomplete and uncertain knowledge?. We then introduce a generic probabilistic formalism called Bayesian Programming. This formalism is then used to review the main probabilistic methodology and techniques. This review is organized in 3 parts: first the probabilistic models from Bayesian networks to Kalman filters and from sensor fusion to CAD systems, second the inference techniques and finally the learning and model acquisition and comparison methodologies. We conclude with the perspectives of the BIBA project as they rise from this state of the art

Collaborative sparse regression using spatially correlated supports - Application to hyperspectral unmixing

This paper presents a new Bayesian collaborative sparse regression method for linear unmixing of hyperspectral images. Our contribution is twofold; first, we propose a new Bayesian model for structured sparse regression in which the supports of the sparse abundance vectors are a priori spatially correlated across pixels (i.e., materials are spatially organised rather than randomly distributed at a pixel level). This prior information is encoded in the model through a truncated multivariate Ising Markov random field, which also takes into consideration the facts that pixels cannot be empty (i.e, there is at least one material present in each pixel), and that different materials may exhibit different degrees of spatial regularity. Secondly, we propose an advanced Markov chain Monte Carlo algorithm to estimate the posterior probabilities that materials are present or absent in each pixel, and, conditionally to the maximum marginal a posteriori configuration of the support, compute the MMSE estimates of the abundance vectors. A remarkable property of this algorithm is that it self-adjusts the values of the parameters of the Markov random field, thus relieving practitioners from setting regularisation parameters by cross-validation. The performance of the proposed methodology is finally demonstrated through a series of experiments with synthetic and real data and comparisons with other algorithms from the literature

Learning Models for Following Natural Language Directions in Unknown Environments

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret natural language manipulation and navigation commands, but these methods require a prior map of the robot's environment. In this paper, we propose a novel learning framework that enables robots to successfully follow natural language route directions without any previous knowledge of the environment. The algorithm utilizes spatial and semantic information that the human conveys through the command to learn a distribution over the metric and semantic properties of spatially extended environments. Our method uses this distribution in place of the latent world model and interprets the natural language instruction as a distribution over the intended behavior. A novel belief space planner reasons directly over the map and behavior distributions to solve for a policy using imitation learning. We evaluate our framework on a voice-commandable wheelchair. The results demonstrate that by learning and performing inference over a latent environment model, the algorithm is able to successfully follow natural language route directions within novel, extended environments.Comment: ICRA 201